DE102015207933A1 - Method for processing a glass pane and glass pane processing device - Google Patents

Abstract

The invention relates to a glass processing apparatus having a drill grinding device (13), a spindle (46) having a coupling structure (66), a set of tool heads, each tool head (44) having a centering cone (72) and a coupling structure (74) has positive engagement with the coupling structure (66) and is adapted for magnetic coupling with the spindle (46), and has at least one gripper (100) having retaining rollers (104) which are rotatably mounted and by means of which a tool head (44) with respect to a movement in the axial direction of the tool head is durable.

Description

The invention relates to a glass processing apparatus having a Bohrschleifvorrichtung. Such glass processing devices are preferably operated automatically. Some glass panes need to be drilled. For this purpose, the Bohrschleifvorrichtung is used. If holes of different diameters are to be manufactured, the tool head of the drill grinding device must be changed, which should be done automatically. To reduce downtime, it must be prevented that the coupling fails because the tool head is in an inappropriate for coupling relative to the spindle position.

A glass processing apparatus in which the coupling is automatically possible, is from the EP 0 775 546 B1 known. There, the drill will be connected to the spindle via concentric magnetic circuits. The disadvantage of this is the high production costs.

The invention has for its object to reduce disadvantages in the prior art.

The invention solves the problem by a glass processing apparatus having a drill sharpener which comprises (a) a spindle having a coupling structure, (b) a set of tool heads, and (c) a gripper, each tool head having a centering cone and a coupling structure for has positive engagement with the coupling structure and is adapted for magnetic coupling with the spindle and wherein the gripper has holding rollers which are rotatably mounted and by means of which a tool head with respect to a movement in the axial direction of the tool head is durable. Particularly preferably, this glass processing device additionally has the above-mentioned properties.

An advantage of such a Bohrschleifvorrichtung, which is a special grinding device, is that the tool heads can be changed easily. Another advantage is the simple design of the tool heads, which makes them very robust.

Particularly preferably, the coupling structure and the coupling structure are formed so that when moving the tool head and spindle in the axial direction with respect to a rotational axis of the spindle toward each other either the tool head and the spindle without rotation about the axis of rotation form-fitting coupled or torque is generated, so that the tool head rotates about the axis of rotation and the tool head then couples with the spindle. This is achieved, for example, by virtue of the fact that the coupling structure and / or the coupling-in structure have a chamfer and have a radius of curvature that is so large in a plane perpendicular to the axis of rotation that the respective object always strikes a flank, except in theoretical limiting cases, so that a torque with respect to one Rotation about the axis of rotation is generated.

According to a preferred embodiment, the coupling-in structure and / or the coupling structure have a quasi-rotational symmetry. This is to be understood that the coupling structure and / or the coupling structure have only approximately rotationally symmetrical shape. For example, only the coupling-in structure or the coupling structure has a quasi-rotational symmetry and the respective other structure has a strict rotational symmetry. As a result, when the coupling structure and the coupling structure first come into contact with one another, almost always an edge of the coupling structure or coupling structure is hit, so that a torque is generated. If the coupling structure and the coupling structure come into contact so that they do not mesh with each other immediately and no torque is generated, a tilting moment arises about the axis of rotation, as a result of which the coupling structure and the coupling structure come into contact with each other at a second location. Due to the deviation from the ideal rotational symmetry, this leads to two mutually inclined surfaces coming into contact with each other at the second location, so that the torque is generated.

Preferably, the tool head is ferromagnetic and the spindle head ferromagnetic and magnetized. In order to achieve the greatest possible holding force, the spindle head may comprise a rare earth magnet. Alternatively or additionally, the spindle head comprises a ferrite magnet or another magnet. It is also possible that the spindle head itself is magnetized. It is possible, and represents a preferred embodiment, that the tool head is unmagnetized. Alternatively, the tool head can also be magnetized.

It is possible, and represents a preferred embodiment, that a small air gap exists between the magnet of the spindle head and the tool head. This guarantees a reproducible coupling between the tool head and the spindle, even if the tool head is dirty.

It is advantageous if the magnet or the magnetized region of the spindle is formed with respect to a spindle end face.

Preferably, the glass processing apparatus has a tool changer having at least one gripper, wherein the gripper has at least two gripping units and wherein each gripping unit has three holding rollers, by means of which the Tool head with respect to a movement in the axial direction of the tool head has preserved. Thus, with the first gripper, a tool head attached to the spindle can be removed, then the gripper can be rotated and / or moved translationally so that the second gripper is positioned in front of the spindle, and finally a second tool head held by the second gripper coupled to the spindle. This allows one tool head to be swapped quickly for another.

It is advantageous if the gripper longitudinal axes of the gripper run obliquely to each other. In particular, it is favorable if an angle between the gripper longitudinal axes is greater than 10 °. This avoids tilting.

According to a preferred embodiment, the robot comprises a holding device, wherein the holding device has a first holding element, which is fastened by means of a connection to the robot, at least a first suction element, which is acted upon by the connection with a fluid pressure for holding the glass pane, and a first coupling element has, and a second holding member for fixing to the first holding member, wherein the second holding member has at least a second suction member, by means of which the glass pane can be held, and has a second coupling element, and automatically rigidly connected by means of the second coupling element with the first coupling element is that the second suction element is actuated by means of the fluid. It results in such a variable in size gripper. A glass processing apparatus around such a holding device constitutes an independent subject of the invention.

This is advantageous because the glass processing device according to the invention is preferably used for the production of glass sheets at very small batch sizes, in particular batch size 1. On the one hand, it is necessary to hold each pane of glass securely. On the other hand, the gripper should only attack at locations spaced from the edge of the glass pane in order to allow processing of all edges without grasping. By means of the described holding device, the robot can modify the gripper so that it optimally meets the requirements before processing each glass pane.

When the two coupling elements are connected to one another, the holding elements are connected rigidly to one another in such a way that the load of the glass pane, which is received by the second holding element, can be introduced via the first holding element into the arm of the robot holding the first holding element.

Under the feature that the suction element can be acted upon by a fluid pressure, is understood in particular that an overpressure or a negative pressure can be applied. The suction element may be a vacuum suction device, which sucks and holds the glass pane by means of the at least one suction element. This negative pressure can be generated by applying a negative pressure via the connection. But it is also possible that over the port an overpressure is applied, for example by means of compressed air, and that the negative pressure is generated by means of a Venturi nozzle.

The feature that the second suction element can be actuated by means of the fluid pressure is understood in particular to mean that the first holding element and the second holding element can be connected by means of the coupling elements such that the vacuum for actuating the suction elements can be transferred from the first holding element to the second holding element. Thus, at least the first coupling element is preferably designed for opening a vacuum line when the second coupling element is coupled, and for closing this vacuum line, when the second coupling element is not connected. Thus, it is sufficient to supply a vacuum via the connection on the robot, by means of which both the first suction element and the second suction element can be actuated.

Each of the suction members may be constructed of a plurality of partial suction members to increase the suction force and grip safety of the holder.

Particularly preferably, the holding device has at least a third holding element, which has at least a third suction element, by means of which the glass pane can be held, and which has a third coupling element, wherein the third coupling element with the first coupling element and / or the second coupling element is automatically rigidly connected such that the third suction element is actuatable by means of the fluid.

Preferably, the glass processing device has at least a fourth holding element, which has at least a fourth suction element, by means of which the glass pane can be held, and which has a fourth coupling element, wherein the fourth coupling element with the first coupling element and / or the second coupling element and / or the third Coupling element is automatically rigidly connected to each other so that the third suction element is actuated by means of the fluid.

It is particularly favorable if the first retaining element has at least one further coupling element, and in particular has two, three, four or more coupling elements. That way that can second holding element and - if present - further holding elements are coupled to a plurality of positions, which increases the configurability of the holding device.

In the following the invention will be explained in more detail with reference to the accompanying drawings. It shows

1 a partial perspective view of a glass processing apparatus according to the invention,

2 in the partial images 2a, 2b and 2c views of tool heads of a glass processing apparatus according to the invention,

3 a gripper of a glass processing apparatus according to the invention,

4 a holding device of a glass processing apparatus according to the invention and

5 the holding device according to 4 with an additional retaining element.

1 shows a glass processing apparatus according to the invention 10 which in the present case is a robot 12 and a first processing device 14 having. The robot 12 has a pedestal 15 , one at the base 15 attached basic body 16 , a first arm 18 , the main body 16 is pivotally mounted, a second arm 20 , the first arm 18 is attached and a head 22 , the second arm 20 is appropriate. The robot 12 includes a holding device 24 in the form of a suction gripper for frictionally holding a glass pane 26 ,

1 shows that the first processing device 14 a drill sharpener 13 includes the two attacking from opposite sides tool heads 44.1 . 44.2 having in the form of Bohrschleifköpfen. Every tool head 44 (Reference numerals without counting suffix refer to all corresponding objects) is by means of a spindle 46.1 respectively. 46.2 rotationally driven and is delivered so that the resulting force on the glass 26 is minimized.

2 shows in its part 2a a spindle head 64 the spindle 46.1 (see. 1 ). The spindle head 64 has a coupling structure 66 , which in the present case has a hexagonal rotational symmetry. An end face 68 the coupling structure 66 has a chamfer 70 , The chamfer 70 is inclined to a plane E, which is perpendicular to a rotation axis of the spindle 46.1 runs along a curve whose radius of curvature is greater than 1 mm. This allows easy coupling.

The 2 B and 2c show a tool head 44 , the centering cone 72 and a coupling structure 74 having, with the coupling structure 66 ( 2a ) cooperates positively. On one of the coupling structure 74 opposite side has the tool head 44 a processing section 76 for working the glass pane. In 2c the processing section is not shown.

2c shows a cross section through the spindle head 64 and the tool head 44 , It can be seen that the spindle head 46 on a spindle shaft 78 the spindle is fixed, in the present case by means of a countersunk screw 80 ,

The tool head 44 is ferromagnetic. The spindle head 64 includes a magnet 65 , facing the front 68 of the tool head 44 is arranged. Between both is a small air gap.

3 shows a gripper 100 , the part of a tool changer 101 (see. 1 ). The tool changer 101 is in the present case designed as a robot and in turn part of the Bohrschleifvorrichtung 13 , in turn, part of the processing device 14 is. For example, the robot is a five-axis robot.

The gripper 100 preferably has at least two gripping units 102.1 . 102.2 Each gripping unit 102 has three retaining rollers each 104 of which the retaining rollers 104.1 and 104.2 in 3 you can see. The three retaining rollers 104 are arranged, for example, in equidistant angular steps around a gripper longitudinal axis L ₁₀₀ , so that the third retaining roller in the sectional view according to FIG 3 not visible.

The retaining rollers 104 are rotatable about respective axes of rotation D and each have a groove 106 on. To achieve easy rotation, the retaining rollers are 104 ball bearings. The groove 106 is designed so that a coupling projection 108 of the tool head 44 can be gripped positively. In other words, it comes to a positive connection between the coupling projection 108 and the groove 106 , In the coupled state, the tool head 44 by a movement along the gripper longitudinal axis L ₁₀₀ of the schematically indicated by dashed lines spindle 46 subtracted from.

The retaining rollers 104 are each on a gripper arm 110 attached. At least one of the gripper arms, but preferably two or three of the gripper arms, can be moved radially outward by a motor. In the present case, the gripper arms are moved pneumatically outwards. By a radial outward movement of the coupling projection comes 108 out of engagement with the grooves 106 so that the tool head 44 can be removed.

Because of the groove 106 on the retaining role 104 is formed, the tool head can 44 rotate freely. This is an advantage if the coupling structure 74 (see. 2 B ) angularly displaced to the coupling structure 66 ( 2a ) is arranged when with the gripper 100 the tool head 44 in the spindle head 64 is used. Then the tool head turns automatically into the correct angular position.

The gripper arms 110 are for example on a first gripping unit 102.1 educated. The gripper 100 has two, three or more gripping units 102.i (i = 2, 3, ...), with three gripping units being particularly preferred. It is then possible, first with the empty gripping unit 102.1 a tool head 44 from the spindle 46 to solve (cf. 2c ), by turning the gripper 100 around a rotation axis D ₁₀₀ a second, with another tool head 44 fitted gripping unit 102 Position in front of the spindle and then insert the new tool head into the spindle. Thereafter, another drill grinding device can be approached and there also the tool head 44 change.

4 shows the optional holding device 24 that is a first holding element 82 having, by means of a connection 84 at the head 22 of the robot 12 (see. 1 ) is attached. The first holding elements 82 includes several first suction elements 86.1 . 86.2 , ..., over the connection 84 be subjected to a vacuum, via a vacuum line 88 of the robot 12 provided. The first holding element 82 also includes a first coupling element 90 ,

5 shows a second holding element 92 , the second suction elements 94.1 . 94.2 . 94.3 includes and a second coupling element 96 has. The second coupling element 96 is with the first coupling element 90 rigid and connected to transfer the vacuum.

In the context of a method according to the invention, the robot receives 12 .1 (see 5 ) first by the drive unit 36 the dimensions of a glass sheet to be processed 26 , Depending on the size of the glass 26 the robot drives 12 the first holding element 82 to the second holding element 92 or a third, fourth or fifth holding element and coupled one, two or more holding elements together so that the holding device 24 is sufficiently large to the glass pane 26 safe and sufficiently small to allow complete processing without grasping.

After the choice of the holder, the robot attacks 12 the glass pane 26 and introduce them into the linear feeder as described above. The drive unit 36 communicates the trajectory to the robot, along which the glass pane 26 to move. In addition, the drive unit transmits 36 the processing device 14 the processing parameters for processing the glass pane. After the end of processing, the robot sets 12 the glass pane on a transport device.

LIST OF REFERENCE NUMBERS

10

 A glass treating apparatus

12

 robot

13

 Bohrschleifvorrichtung

14

 processing device

15

 base

16

 body

18

 first arm

22

 head

20

 second arm

24

 holder

26

 pane

28

 linear Feeders

30

 first conveyor element

32

 second conveyor element

34

 rail

36

 evaluation

60

 Feinstpoliervorrichtung

61

 camp

62

 advancer

63

 Transfer station

64

 spindle head

65

 unit

66

 coupling structure

67

alignment

68

 face

70

 chamfer

72

 centering cone

74

 coupling structure

76

 machining section

78

 spindle shaft

80

 Senkschraube

82

 first holding element

38

 first engine

40

 second engine

42

 biasing unit

44

 tool head

46

 spindle

48

 first grinding device

50

 second grinding device

52

 lower edge

54

 first polishing device

56

 second polishing device

58

 Fine polishing device

84

 connection

86

 first suction element

88

 vacuum line

90

 first coupling element

92

 second holding element

94

 second suction element

96

 second coupling element

100

 grab

101

 tool changer

102

 gripper unit

104

 holding roller

106

 Nutz

108

 coupling lead

110

 claw arm

112

 gripper unit

L

 longitudinal direction

v ₁₂

 Wheel speed

v ₂₈

 conveyor speed

K

 Curve

L ₁₀₀

longitudinal axis

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 0775546 B1 [0002]

Claims (7)

Glass processing device with a drill grinding device ( 13 ) that (a) a spindle ( 46 ), which has a coupling structure ( 66 ), (b) a set of tool heads, each tool head ( 44 ) - a centering cone ( 72 ) and - a coupling structure ( 74 ) for form-fitting interaction with the coupling-in structure ( 66 ) and - for magnetic coupling with the spindle ( 46 ), and (c) at least one gripper ( 100 ), the retaining rollers ( 104 ), - which are rotatably mounted and - by means of which a tool head ( 44 ) with respect to a movement in the axial direction of the tool head is durable. Glass processing device according to claim 1, characterized in that the coupling structure ( 66 ) and the coupling structure ( 74 ) are designed so that when moving tool head ( 44 ) and spindle ( 46 ) in the axial direction with respect to a rotational axis of the spindle ( 46 ) towards each other (a) either the tool head ( 44 ) and the spindle ( 46 ) couple positively without rotation about the axis of rotation or (b) a torque is generated, so that the tool head ( 44 ) rotates about the axis of rotation and the tool head ( 44 ) then with the spindle ( 46 ) couples. Glass processing device according to one of the preceding claims, characterized in that the coupling structure and / or the coupling structure have a quasi-rotational symmetry. Glass processing device according to one of the preceding claims, characterized by - a tool changer ( 102 ), the at least one gripper ( 100 ), wherein the gripper ( 100 ) at least two gripping units ( 102.-1 . 102.2 ) and each gripping unit ( 102.-1 . 102.2 ) each three retaining rollers ( 104 ), by means of which the tool head ( 44 ) with respect to a movement in the axial direction of the tool head ( 44 ) is durable. A glass treating apparatus according to claim 4, characterized in that characterized in that - the first gripping unit ( 102.1 ) has a first gripper longitudinal axis (L _100.1 ) and - the second gripping unit ( 102.1 ) has a second gripper longitudinal axis (L _100.2 ), which _extends obliquely to the first gripper longitudinal axis (L _100.1 ). Glass processing device according to one of the preceding claims, characterized in that - the at least one gripper ( 100 ) at least three gripper arms ( 110 ), wherein on each gripper arm ( 110 ) a retaining roller is attached, and that - at least one gripper arm ( 110 ) is radially outwardly movable by means of a motor. Glass processing device according to one of the preceding claims, characterized in that the robot ( 12 ) a holding device ( 24 ) comprising (a) a first retaining element ( 82 ), which - by means of a connection ( 84 ) on the robot ( 12 ), - at least a first suction element ( 86 ), which is connected via the connection ( 84 ) with a fluid pressure for holding the glass sheet ( 26 ) is acted upon, and - a first coupling element ( 90 ), and (b) a second holding element ( 92 ) for fixing to the first holding element ( 82 ), wherein the second holding element ( 92 ) - at least one second suction element ( 94 ), by means of which the glass pane ( 26 ), and - a second coupling element ( 96 ) and - by means of the second coupling element ( 96 ) with the first coupling element ( 90 ) is automatically rigidly connected to each other so that the second suction element ( 94 ) is actuated by means of the fluid pressure.

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